Following control method, control terminal, and unmanned aerial vehicle

ABSTRACT

The present disclosure provides a following control method. The method includes receiving and displaying an acquired image acquired by an imaging device of an unmanned aerial vehicle (UAV); detecting a user&#39;s selection operation on two or more objects in the image; determining a following instruction based on the detected selection operation; and controlling the UAV to follow the two or more followed objects indicated by the following instruction so that the two or more followed objects are in an imaging frame of the imaging device.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of International Application No.PCT/CN2018/073626, filed on Jan. 22, 2018, the entire content of whichis incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the field of unmanned aerial vehicle(UAV) and, more specifically, to a following control method, a controlterminal, and a UAV.

BACKGROUND

In conventional technology, a UAV can be used to intelligently follow atarget object. However, in scenarios such as group photographing, orball games or games that involving multiple players, the UAV cannotfollow multiple target objects, thereby limiting the photograph scenesof the UAV.

SUMMARY

One aspect of the present disclosure provides a following controlmethod. The method includes receiving and displaying an acquired imageacquired by an imaging device of an unmanned aerial vehicle (UAV);detecting a user's selection operation on two or more objects in theimage; determining a following instruction based on the detectedselection operation; and controlling the UAV to follow the two or morefollowed objects indicated by the following instruction so that the twoor more followed objects are in an imaging frame of the imaging device.

Another aspect of the present disclosure provides A control terminal ofa UAV. The control terminal includes a communication interfaceconfigured to receive an acquired image acquired by an imaging device ofthe UAV; and a processor configured to: display the acquired imageacquired by the imaging device of a UAV; detect a user's selectionoperation on two or more objects in the image; determine a followinginstruction based on the detected selection operation; and control theUAV to follow the two or more followed objects indicated by thefollowing instruction so that the two or more followed objects are in animaging frame of the imaging device.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to illustrate the technical solutions in accordance with theembodiments of the present disclosure more clearly, the accompanyingdrawings to be used for describing the embodiments are introducedbriefly in the following. It is apparent that the accompanying drawingsin the following description are only some embodiments of the presentdisclosure. Persons of ordinary skill in the art can obtain otheraccompanying drawings in accordance with the accompanying drawingswithout any creative efforts.

FIG. 1 is a flowchart of a following control method according to anembodiment of the present disclosure.

FIG. 2 is a diagram of a communication system according to an embodimentof the present disclosure.

FIG. 3 is a diagram of an interactive interface according to anembodiment of the present disclosure.

FIG. 4 is a flowchart of the following control method according toanother embodiment of the present disclosure.

FIG. 5 is a diagram of the interactive interface according to anotherembodiment of the present disclosure.

FIG. 6 is a diagram of the interactive interface according to yetanother embodiment of the present disclosure.

FIG. 7 is a diagram of the interactive interface according to stillanother embodiment of the present disclosure.

FIG. 8 is a diagram of the interactive interface according to yetanother embodiment of the present disclosure.

FIG. 9 is a flowchart of the following control method according to yetanother embodiment of the present disclosure.

FIG. 10 is a diagram of the interactive interface according to anotherembodiment of the present disclosure.

FIG. 11 is a diagram of the interactive interface according to yetanother embodiment of the present disclosure.

FIG. 12 is a flowchart of the following control method according toanother embodiment of the present disclosure.

FIG. 13 is a flowchart of the following control method according to yetanother embodiment of the present disclosure.

FIG. 14 is a flowchart of the following control method according tostill another embodiment of the present disclosure.

FIG. 15 is a flowchart of the following control method according to yetanother embodiment of the present disclosure.

FIG. 16 is a flowchart of the following control method according tostill another embodiment of the present disclosure.

FIG. 17 is a flowchart of the following control method according to yetanother embodiment of the present disclosure.

FIG. 18 is a flowchart of the following control method according tostill another embodiment of the present disclosure.

FIG. 19 is a structural diagram of a control terminal of a UAV accordingto an embodiment of the present disclosure.

FIG. 20 is a structural diagram of a UAV according to an embodiment ofthe present disclosure.

FIG. 21 is a structural diagram of the control terminal of the UAVaccording to another embodiment of the present disclosure.

REFERENCE NUMERALS

-   21 UAV-   22 Imaging device-   23 Processor-   24 Communication interface-   25 Control terminal-   26 Gimbal-   30 Interactive interface-   31 Following object-   32 Following object-   33 Following object-   34 Following object-   35 Circular icon-   36 Circular icon-   37 Following object-   38 Icon-   39 Icon-   40 Confirm follow icon-   41 Icon-   110 Composition selection icon-   111 List-   190 Control terminal-   191 Communication interface-   192 Processor-   200 UAV-   201 Imaging device-   202 Processor-   203 Communication interface-   204 Gimbal-   206 Propeller-   207 Motor-   210 Control terminal-   211 Communication interface-   212 Processor-   217 Electronic speed controller

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described indetail with reference to the drawings. It will be appreciated that thedescribed embodiments represent some, rather than all, of theembodiments of the present disclosure. Other embodiments conceived orderived by those having ordinary skills in the art based on thedescribed embodiments without inventive efforts should fall within thescope of the present disclosure.

It should be noted that, when a component is referred to as being “fixedto” another component, the component can be directly fixed to the othercomponent or an intermediate component may exist. When a component isregarded to be “connected” to another component, the component can bedirectly connected to the other component or an intermediate componentmay exist.

Unless otherwise defined, all the technical and scientific terms usedherein have the same or similar meanings as generally understood by oneof ordinary skill in the art. As described herein, the terms used in thespecification of the present disclosure are intended to describeexemplary embodiments, instead of limiting the present disclosure. Theterm “and/or” used herein includes any suitable combination of one ormore related items listed.

Exemplary embodiments will be described with reference to theaccompanying drawings. Unless a conflict exists, the embodiments andfeatures of the embodiments can be combined.

An embodiment of the present disclosure provides a following controlmethod. FIG. 1 is a flowchart of a following control method according toan embodiment of the present disclosure. The following control methodprovided in the present embodiment can be applied to a control terminalof a UAV. The following control method will be described in detailbelow.

S101, receiving and displaying an image acquired by an imaging device ofa UAV.

As shown in FIG. 2, an imaging device 22 can be carried by a UAV 21. Aprocessor 23 in the UAV 23 can acquire an image acquired by the imagingdevice 22. In some embodiments, the processor 23 may be a flightcontroller of the UAV 21, or another general-purpose or special-purposeprocessor. After the processor 23 acquires the image acquired by theimaging device 22, the processor 23 can send the image to a controlterminal 25 of the UAV 21 through a communication interface 24 of theUAV 21. The UAV 21 and the control terminal 25 can communicate by wireor wirelessly. The present embodiment is described using wirelesscommunication as an example. In addition, the imaging device 22 can bemounted on the UAV 21 through a gimbal 26.

The control terminal 25 may be a remote controller for controller theUAV 21, or a smartphone, a tablet computer, a ground control station, alaptop computer, etc., and combinations thereof. In some embodiments,the control terminal 25 may include a display device, such as a displayscreen, or the control terminal 25 may be connected to an externaldisplay device. After receiving the image sent by the UAV 21, thecontrol terminal 25 may display the image on the display device. Morespecifically, the control terminal 25 may display the image on aninteractive interface, which may be displayed on the display screen ofthe control terminal 25. In some embodiments, the display screen may bea touch screen. As shown in FIG. 3, the display on an interactiveinterface 30 is controlled by the control terminal 25. The imagedisplayed by the interactive interface 30 includes a plurality offollowed objects, such as following object 31, following object 32,following object 33, and following object 34. The number and types offollowed objects used here are for description purpose, the presentdisclosure does not limit the number and types of followed objects.

S102, detecting a user's selection operation on two or more to befollowed objects in the image. The user's selection operation of the twoor more followed objects may be implemented by a voice selectionoperation, or by the operation of selecting the two or more followedobjects on the interactive interface 30. The control terminal 25 maydetect the user's selection operation on the two or more followedobjects.

More specifically, detecting the user's selection operation on two ormore to be followed objects in the image may include the followingimplementation methods.

In one implementation method, detecting the user's selection operationon two or more to be followed objects in the image may include detectinga user's voice selection operation on two or more to be followed objectsin the image.

For example, the follow object 31 displayed on the interactive interface30 may be wearing red clothes, and the follow object 32 may be wearingyellow clothes. The user may issue a voice selection operation of“following the objects in red clothes and yellow clothes” to the controlterminal 25. The control terminal 25 may detect the user's voiceselection operation on the following object 31 and the following object32.

Alternatively, as shown in FIG. 3, the following object 32 is located inthe lower left corner of the interactive interface 30, and the followingobject 34 is located in the lower right corner of the interactiveinterface 30. The user may issue a voice selection operation of“followed objects in the lower right corner and the lower left corner”to the control terminal. The control terminal 25 may detect the user'svoice selection operation on the following object 33 and the followingobject 34.

In another implementation method, detecting the user's selectionoperation on two or more to be followed objects in the image may includedetecting a user's selection operation of two or more followed objectson the interactive interface displaying the image.

As shown in FIG. 3, the user may perform a selection operation on two ormore to be followed objects such as the following object 31 and thefollowing object 32 among the plurality of followed objects displayed onthe interactive interface 30. The control terminal 25 may detect auser's selection operation on the interactive interface 30 for two ormore following object, such as the following object 31 and the followingobject 32. The selection operation may include, but is not limited to, asingle-click, a double-click, a frame selection, press and hold, etc.

S103, determining a following instruction based on the detectedselection operation.

In some embodiments, determining the following instruction based on thedetected selection operation may include determining the followinginstruction based on the detected voice selection operation.

For example, the user may issue a voice selection operation of“following the objects in red clothes and yellow clothes” to the controlterminal 25. The control terminal 25 may determine a followinginstruction based on the voice selection operation. The followingincludes may include characteristic information of the following objectselected by the user, such as red clothes and yellow clothes. Thecontrol terminal 25 may send the following instruction to the UAV 21.The processor 23 of the UAV 21 may identify the following object 31wearing red clothes and the following object 32 wearing yellow clothesfrom the image acquired by the imaging device 22 based on thecharacteristic information included in the following instruction, andthe following object 31 and the following object 32 may be followed.

In another example, the user may issue a voice selection operation of“followed objects in the lower right corner and the lower left corner”to the control terminal 25. The control terminal 25 may determine afollowing instruction based on the voice selection operation. Thefollowing includes may include characteristic information of thefollowing object selected by the user, such as the lower left corner andthe lower right corner. The control terminal 25 may send the followinginstruction to the UAV 21. The processor 23 of the UAV 21 may identifythe following object 33 in the lower left corner and the followingobject 34 in the lower right corner from the image acquired by theimaging device 22 based on the characteristic information included inthe following instruction, and the following object 33 and the followingobject 34 may be followed.

In some embodiments, when the control terminal 25 detects a voiceselection operation of “following the objects in red clothes and yellowclothes” and “followed objects in the lower right corner and the lowerleft corner” issued by a user. The control terminal 25 may identifycharacteristic information of two or more followed objects selected bythe user, such as red clothes and yellow clothes, and determine positioninformation of two or more followed objects in the image based on thecharacteristic information of the two or more followed objects, andgenerate a following instruction based on the position information ofthe two or more followed objects in the image. For example, thefollowing instruction may include the position information of the two ormore followed objects in the image.

In other embodiments, if the control terminal 25 detects a user'sselection operation of two or more followed objects such as thefollowing object 31 and the following object 32 on the interactiveinterface 30 using a touch operation, such as a single-click, adouble-click, a frame selection, and press and hold, on a touch screen,the control terminal 25 may generated a following instruction based onthe user's selection operation, and the following instruction mayinclude position information of two or more followed objects selected bythe user in the image.

S104, controlling the UAV to follow the two or more followed objectsindicated by the following instruction such that the two or morefollowed objects may be in an imaging frame of the imaging device.

After the control terminal 25 determines the following instruction inany of the methods described above, the UAV 21 may be controlled tofollow the two or more followed objects indicated by the followinginstruction, such as following the following object 31 and the followingobject 32. When the UAV is in the process of following the followingobject 31 and the following object 32, the processor 23 may adjust oneor more of the movement direction of the UAV 21, the attitude of the UAV21, or the attitude of the gimbal of the UAV 21 based on informationsuch as the movement directions of the following object 31 and thefollowing object 32 and the position of the following object 31 and thefollowing object 32. As such, the following object 31 and the followingobject 32 may be kept in the imaging frame of the imaging device.

In addition, the present embodiment does not limit the following methodof the two or more objects followed by the UAV 21. In some embodiments,the UAV 21 can follow behind the two or more followed objects, or followin parallel with the two or more followed objects. Alternatively, theposition of the UAV may be unchanged, and the UAV 21 may adjust the bodyattitude and/or the gimbal attitude such as the two or more followedobjects may be in the imaging frame of the imaging device.

In the present embodiment, a control terminal may receive and display animage acquired by an imaging device of a UAV, detect a user's selectionoperation of two or more followed objects in the image, and determine afollowing instruction based on the detected selection operation. Thefollowing instruction may indicate two or more followed objects suchthat the UAV may follow the two or more followed objects. As such, thetwo or more followed objects may be in the imaging frame of the imagingdevice, such that the UAV may be applied to more imaging scenes, such asa group photo, or ball games or games involving multiple players.

An embodiment of the present disclosure provides a following controlmethod. FIG. 4 is a flowchart of the following control method accordingto another embodiment of the present disclosure. As shown in FIG. 4,based on the embodiment shown in FIG. 1, the control method of thepresent embodiment will be described in detail below.

S401, receiving following object identification information sent by theUAV, the following object identification information may be used toindicate one or more followed objects identified by the UAV from theimage.

In the present embodiment, after the processor 23 of the UAV 21 acquiresthe imaging frame acquired by the imaging device 22, the processor 23may further identify the followed objects in the image. For example, theprocessor 23 may use a neural network model to identify one or morepieces of information such as the outline, size, and type of an objectin the image, and the distance between the object and the UAV. Theprocessor 23 may determine whether the object can be a following objectbased on the sharpness of the outline, the size, or the type of theobject. For example, the type of object identified by the neural networkmodel may include people, animals, vehicles, etc., and the processor 23may use the people identified by the neural network model as thefollowing object. In addition, the processor 23 may also take an objectwhose distance from the UAV may be within a predetermined distance rangeas the following object. The description provided above is forillustrative purpose, and the specific method of the processor 23identifying the following object is not limited in the embodiments ofthe present disclosure.

More specifically, when the processor 23 identifies the followingobject, the processor can send the identification information of thefollowing object to the control terminal 25 of the UAV 21 through thecommunication interface 24 of the UAV. The following objectidentification information may be used to indicate one or more followedobjects identified by the UAV 21 from the image. The one or morefollowed objects identified by the UAV 21 from the image may include aplurality of followed objects identified by the UAV 21 from the image.As shown in FIG. 3, the following object 31, the following object 32,and the following object 34 are followed objects identified by the UAV21 from the image. The UAV may send the identification information ofthe following object 31, the following object 32, and the followingobject 34 to the control terminal 25.

S402, identifying, in the image, the one or more followed objectsidentified by the UAV from the image based on the following objectidentification information.

After the control terminal 25 receives the identification information ofthe followed objects 31, 32, and 34 sent by the UAV 21, the followedobjects 31, 32, and 34 may be identified in the interactive interface30. As such, the user can be aware of at least the objects in the imagethat the UAV can follow by observing the image.

More specifically, the following object identification information mayinclude position information of the one or more followed objectsidentified by the UAV from the image.

For example, the identification information of the followed objects 31,32, and 34 sent by the UAV 21 to the control terminal 25 may include theposition information of the followed objects 31, 32, and 34 in theimage.

In some embodiments, identifying, in the image, the one or more followedobjects identified by the UAV from the image based on the followingobject identification information may include displaying an icon foridentifying the one or more followed objects identified by the UAV fromthe image based on the following object identification information.

As shown in FIG. 3, the control terminal 25 may display an icon foridentifying the following object 31, such as a circular icon 35 in thefollowing object 31, in the image based on the position information ofthe following object 31 in the image. Similarly, the control terminal 25may display an icon for identifying the following object 32, such as acircular icon 35 in the following object 32, in the image based on theposition information of the following object 32 in the image. Further,the control terminal 25 may display an icon for identifying thefollowing object 34, such as a circular icon 35 in the following object34, in the image based on the position information of the followingobject 34 in the image. The description provided above is forillustrative purpose. In other embodiments, other icons besides thecircular icon may be used to identify the followed objects identified bythe UAV.

More specifically, detecting the user's selection operation of two ormore followed objects in the image may include the followingimplementation methods.

In one implementation method, the one or more followed objectsidentified by the UAV from the image may include a plurality of followedobjects identified by the UAV from the image. Further, detecting theuser's selection operation of two or more followed objects in the imagemay include detecting the user's selection operation of two or morefollowed objects identified by the UAV from the image.

As shown in FIG. 3, the followed objects 31, 32, and 34 are the followedobjects identified by the UAV 21 from the image, and the user may selecttwo or more of followed objects 31, 32, or 34 on the interactiveinterface 30. For example, the user may single-click, double-click,select a frame, and press and hold on two or more of the followedobjects 31, 32, or 34. Alternatively, the user may also single-click,double-click, select a frame, and press and hold the circular icons 35in two or more of the followed objects 31, 32, or 34. The controlterminal 25 may detect the user's selection operation of two or morefollowed objects identified by the UAV from the image.

For example, the user may perform single-clicks on the followed objects31, 32, and 34. When the control terminal 25 detects that the userperformed single-clicks on the followed objects 31, 32, and 34, theshape and/or color of the circular icons 35 may be updated on theinteractive interface 30. The present embodiment uses a color update asexample for the following description. As shown in FIG. 5, after theuser performs single-clicks on the followed objects 31, 32, and 34, thecircular icons 35 are updated to the circular icons 36, and the color ofthe circular icons 35 are different from the color of the circular icons36. That is, the circular icon 35 may indicate that the following objectis in a candidate state, and the circular icon 36 may indicate that thefollowing object is in a selected state.

In another implementation method, detecting the user's selectionoperation of two or more followed objects in the image may includedetecting the user's selection operation of two or more followed objectsin the image that are not identified by the UAV from the image.

As shown in FIG. 6, followed objects 31, 32, and 34 are the followedobjects identified by the UAV 21 from the image, and the followedobjects 33 and 37 are the followed objects not identified by the UAV 21from the image. The user may also select two or more followed objectsthat are not identified by the UAV 21 in the image, and the selectionmethod may include single-click, double-click, select a frame, press andhold, etc. The control terminal 25 may also detect the user's selectionoperation of two or more followed objects in the image that are notidentified by the UAV from the image.

For example, the user may select the followed objects 33 and 37 using aframe. When the control terminal 25 detects that the user has selectedthe followed objects 33 and 37, the interactive interface 30 may displayan icon for selecting the following object 33 and an icon for selectingthe following object 37. As shown in FIG. 7, an icon 38 may indicate anicon for framing the following object 33, and an icon 39 may indicate anicon for framing the following object 37.

In yet another implementation method, detecting the user's selectionoperation of two or more followed objects in the image may includedetecting the user's selection operation of two or more followed objectsidentified by the UAV from the image, and the selection operation of oneor more followed objects not identified by the UAV from the image.

As shown in FIG. 8, the user may also select one or more followedobjects identified by the UAV 21 in the image, such as the followedobjects 31, 32, and 34, and one or more followed objects not identifiedby eh UAV 21 in the image, such as the following object 33. The controlterminal 25 may detect the user's selection operation on the followedobjects 31, 32, and 34, and the user's selection operation on thefollowing object 33.

In other embodiments, the control method may further include receivingtype information of the one or more followed objects sent by the UAV;and identifying the type of the one or more followed objects in theimage based on the type information of the one or more followed objects.

For example, the processor 23 in the UAV 21 may use a neural networkmodel to identify the type of the following object in the image. In someembodiments, the type of the following object may be a person, ananimal, or a vehicle. The processor 23 may further send the typeinformation of the following object identified by the UAV 21 to thecontrol terminal 25 of the UAV 21 through the communication interface 24of the UAV 21. The control terminal 25 may also identified the type ofthe one or more followed objects identified by the UAV 21 in theinteractive interface 30. For example, the type information may bedisplayed around the followed objects 31, 32, and 34, respectively.

In the present embodiment, the control terminal may receive thefollowing object identification information sent by the UAV, andidentify, in the image, one or more followed objects identified by theUAV from the image based on the following object identificationinformation. As such, the user may be aware of at least the objects inthe image that the UAV can follow, thereby improving the userexperience.

An embodiment of the present disclosure provides a following controlmethod. FIG. 9 is a flowchart of the following control method accordingto yet another embodiment of the present disclosure. Based on theprevious embodiments, the following control method may further includedetecting the user's confirm follow operation. Further, controlling theUAV to follow the two or more followed objects indicated by thefollowing instruction such that the two or more followed objects may bein the imaging frame of the imaging device may include controlling theUAV to follow the two or more followed objects indicated by thefollowing instruction such that the two or more followed objects may bein the imaging frame of the imaging device after detecting the user'sconfirm follow operation.

In some embodiments, the method may further include displaying an iconto confirm follow, and detecting the user's confirm follow operation mayinclude detecting the user's operation on the confirm follow icon.

As shown in FIG. 8, after the user selects the followed objects 31, 32,33, and 34, the control terminal 25 may further display a confirm followicon 40 on the interactive interface 30. When the user clicks theconfirm follow icon 40, it may indicate that the UAV 21 is controlledthe start following the followed objects 31, 32, 33, and 34. Morespecifically, after the control terminal 25 detects a user operationsuch as clicking on the confirm follow icon 40, the control terminal 25may control the UAV 21 to follow the followed objects 31, 32, 33, and34. In the process of the UAV 21 following the followed objects 31 and32, the processor 23 may adjust one or more of the movement direction ofthe UAV 21, the attitude of the UAV 21, or the attitude of the gimbal ofthe UAV 21 based on information such as the movement directions of thefollowed objects 31, 32, 33, and 34, and the position of each followingobject in the image. As such, the followed objects 31, 32, 33, and 34may be kept in the imaging frame of the imaging device.

As shown in FIG. 10, after the user clicks the confirm follow icon 40,the control terminal 25 may also update the circular icons 36 and theicon 38 in the interactive interface 30. For example, icons 41 areupdated as shown in FIG. 10. That is, icons 41 may indicate that thefollowed objects are in the followed state. In the present embodiment,the color and shape of the icons 41 are not limited in the presentembodiment.

In addition, the control terminal 25 may also detect an end-followoperation by the user and generate an end-follow instruction based onthe end-follow operation. As such, the UAV 21 may be controlled to stopfollowing the two or more followed objects selected by the user, such asthe followed objects 31, 32, 33, and 34. When the UAV 21 finishesfollowing, the UAV 21 may re-identify the followed objects in theimaging frame of the imaging device 22, and send the following objectidentification information of the identified followed objects to thecontrol terminal 25. The control terminal 25 may identify the followedobjects re-identified by the UAV on the interactive interface 30 usingthe identification method shown in FIG. 3, and details will not bedescribed herein again. The present embodiment does not limit the user'send-follow operation. More specifically, the user may click an exitbutton on the interactive interface 30, and may also issue a voicecontrol on the control terminal 25. For example, the user may say “endfollow” to the control terminal 25.

In some embodiments, the method may further include the embodiment shownin FIG. 9.

S901, detecting a user's flight control operation while the UAV isfollowing the two or more followed objects.

As shown in FIG. 8, when the UAV 21 is following the followed objects31, 32, 33, and 34, the user may also operate the control buttons in theinteractive interface 30. For example, the interactive interface 30 mayalso display the buttons for controlling the position of the UAV 21, theattitude of the UAV 21, or the attitude of the gimbal.

S902, determining a flight control instruction based on the detectedflight control operation.

When the control terminal 25 detects a user's operation of a button forcontrolling the position of the UAV 21, the attitude of the UAV 21, orthe attitude of the gimbal, a flight control instruction may begenerated.

S903, sending the flight control instruction to the UAV such that theUAV may adjust one or more of the position of the UAV, the attitude ofthe UAV, or the attitude of the gimbal of the UAV.

When the control terminal 25 generates the flight control instruction,the control terminal 25 may send the flight control instruction to theUAV 21 such that the UAV 21 may adjust one or more of position of theUAV, the attitude of the UAV, or the attitude of the gimbal of the UAVbased on the flight control instruction.

For example, when the UAV is following the two or more followed objectsindicated by the following instruction, the UAV may adjust one or moreof the movement direction of the UAV, the attitude of the UAV, or theattitude of the gimbal of the UAV based on information such as themovement direction and position of the two or more followed objects suchthat the two or more followed objects may be kept in the imaging frame.

While the UAV is following the two or more followed objects, the UAV mayalso receive the flight control instruction from the control terminal,and the UAV may adjust one or more of the position of the UAV, theattitude of the UAV, or the attitude of the gimbal of the UAV based onthe flight control instruction. For example, before the UAV receives theflight control instruction sent by the control terminal, the UAV mayfollow the two or more followed objects behind the two or more followedobjects, and the flight control instruction may be used to control theUAV to follow the two or more followed objects on the side of the two ormore followed objects. As such, after the UAV receives the flightcontrol instruction sent by the control terminal, the UAV may adjust thefollowing method, that is, follow the two or more followed objects onthe side of the two or more followed objects.

In some embodiments, the method may further include detecting a user'scomposition selection operation; and determining a compositioninstruction based on the detection composition selection operation.Further, controlling the UAV to follow the two of more followed objectsindicated by the following instruction such that the two or morefollowed objects may be in the imaging frame of the imaging device mayinclude controlling the UAV to follow the two of more followed objectsindicated by the following instruction such that the two or morefollowed objects may be in the imaging frame of the imaging device basedon a composition rule indicated by the composition instruction.

In the present embodiment, the control terminal 25 may also control theUAV 21 to follow two or more followed objects such that the two or morefollowed objects may be located at a predetermined position in theimaging frame of the imaging device. As shown in FIG. 11, theinteractive interface 30 further display a composition selection icon110. When the user clicks the composition selection icon 110, theinteractive interface 30 displays a list 111, and the list 111 includesfour selectable options such as an upper left corner, a lower leftcorner, an upper right corner, and a lower right corner. The upper leftcorner, the lower left corner, the upper right corner, and the lowerright corner respectively indicate positions of two or more followedobjects that the UAV may be controlled to follow in the imaging frame.When the user performs any of the four selectable options, the controlterminal 25 may generate a corresponding composition instruction. Forexample, when the user selects the upper right corner, the compositionrule indicated by the composition instruction generated by the controlterminal 25 may cause the two or more followed objects followed by theUAV to be located in the upper right corner of the imaging frame of theimaging device. Similarly, when the user selects the upper left corner,the composition rule indicated by the composition instruction generatedby the control terminal 25 may cause the two or more followed objectsfollowed by the UAV to be located in the upper left corner of theimaging frame of the imaging device, and so on.

Taking the user's selection of the upper right corner as an example fordescription purpose. After the control terminal 25 determines thefollowing instruction, the UAV 21 may be controlled to follow the two ormore followed objects indicated by the following instruction, such asthe followed objects 31 and 32. While the UAV 21 is following thefollowed objects 31 and 32, the processor 23 may adjust the movementdirection of the UAV 21, the attitude of the UAV 21, and attitude of thegimbal of the UAV 21 based on information such as the movementdirections of the followed objects 31 and 32, and the position of thefollowed objects 31 and 32 in the image, such that the followed objects31 and 32 may be located at the upper right corner of the imaging frameof the imaging device 22.

In the present embodiment, the control terminal may detect a user'scomposition selection operation, and a composition instruction may bedetermined based on the detected composition selection operation. Whenthe UAV is controlled to follow the two or more followed objectsindicated by the following instruction, the two or more followed objectsmay be located in the imaging frame of the imaging device based on thecomposition rule indicated by the composition instruction, therebyimproving the flexibility of the UAV to follow two or more followedobjects.

An embodiment of the present disclosure provides a following controlmethod. FIG. 12 is a flowchart of the following control method accordingto another embodiment of the present disclosure. The following controlmethod provided in the present embodiment can be applied to a UAV. Thefollowing control method is described in detail below.

S1201, acquiring an image acquired by the imaging device carried by theUAV.

As shown in FIG. 2, an imaging device 22 can be carried by a UAV 21. Aprocessor 23 in the UAV 23 can acquire an image acquired by the imagingdevice 22. In some embodiments, the processor 23 may be a flightcontroller of the UAV 21, or another general-purpose or special-purposeprocessor. The processor 23 may be configured to acquire the imageacquired by the imaging device 22.

S1202, sending the image to a control terminal of the UAV.

After the processor 23 acquires the image acquired by the imaging device22, the processor 23 can send the image to a control terminal 25 of theUAV 21 through a communication interface 24 of the UAV 21. The UAV 21and the control terminal 25 can communicate by wire or wirelessly. Thepresent embodiment is described using wireless communication as anexample.

The control terminal 25 may receive and display the image, detect auser's selection operation of two or more followed objects in the image,and determine a following instruction based on the detected selectionoperation. The specific principles and implementation methods areconsistent with the foregoing embodiments, and are not repeated here.

S1203, receiving the following instruction sent by the control terminalof the UAV, the following instruction may be used to indicate two ormore followed objects in the image.

When the control terminal 25 determines the following instruction byusing the methods described in the previous embodiments, the followinginstruction may be sent to the UAV 21, and the following instruction maybe used to indicate the two or more followed objects selected by theuser.

S1204, following the two or more followed objects such that the two ormore followed objects may be in an imaging frame of the imaging device.

The UAV 21 may follow the two or more followed objects indicated by thefollowing instruction, such as follow the followed objects 31 and 32.While the UAV 21 is following the followed objects 31 and 32, theprocessor 23 may adjust one or more of the position of the UAV, theattitude of the UAV, or the attitude of the gimbal of the UAV based oninformation such as the movement directions of the followed objects 31and 32, and the positions of the followed objects 31 and 32 in theimage, such that the followed objects 31 and 32 may be in the imagingframe of the imaging device 22.

In the present embodiment, the UAV may acquire an image acquired by theimaging device carried by the UAV, the image may be sent to the controlterminal of the UAV, and two or more followed objects indicated by thefollowing instruction based on the following instruction based sent bythe control terminal. As such, the two or more followed objects may bein the imaging frame of the imaging device, such that the UAV may beapplied to more imaging scenes, such as a group photo, or ball games orgames involving multiple players.

An embodiment of the present disclosure provides a following controlmethod. FIG. 13 is a flowchart of the following control method accordingto yet another embodiment of the present disclosure. The followingcontrol method provided in the present embodiment can be applied to aUAV. The following control method is described in detail below.

S1301, identifying the followed objects in the image.

In the present embodiment, after the processor 23 of the UAV 21 acquiresthe imaging frame acquired by the imaging device 22, the processor 23may further identify the followed objects in the image. For example, theprocessor 23 may use a neural network model to identify one or morepieces of information such as the outline, size, and type of an objectin the image, and the distance between the object and the UAV. Theprocessor 23 may determine whether the object can be a following objectbased on the sharpness of the outline, the size, or the type of theobject. For example, the type of object identified by the neural networkmodel may include people, animals, vehicles, etc., and the processor 23may use the people identified by the neural network model as thefollowing object. In addition, the processor 23 may also take an objectwhose distance from the UAV may be within a predetermined distance rangeas the following object. The description provided above is forillustrative purpose, and the specific method of the processor 23identifying the following object is not limited in the embodiments ofthe present disclosure.

1302, sending identification information of one or more of theidentified followed objects to the control terminal of the UAV, theidentification information of the followed objects may be used toindicate one or more followed objects identified by the UAV from theimage.

More specifically, when the processor 23 identifies the followingobject, the processor can send the identification information of thefollowing object to the control terminal 25 of the UAV 21 through thecommunication interface 24 of the UAV. The following objectidentification information may be used to indicate one or more followedobjects identified by the UAV 21 from the image. The one or morefollowed objects identified by the UAV 21 from the image may include aplurality of followed objects identified by the UAV 21 from the image.As shown in FIG. 3, the following object 31, the following object 32,and the following object 34 are followed objects identified by the UAV21 from the image. The UAV may send the identification information ofthe following object 31, the following object 32, and the followingobject 34 to the control terminal 25.

More specifically, the following object identification information mayinclude position information of the one or more followed objectsidentified by the UAV from the image.

For example, the identification information of the followed objects 31,32, and 34 sent by the UAV 21 to the control terminal 25 may include theposition information of the followed objects 31, 32, and 34 in theimage.

In addition, based on the embodiment shown in FIG. 12 or FIG. 13, themethod may further include the embodiment shown in FIG. 14.

S1401, identifying the type of the followed objects in the image.

For example, the processor 23 in the UAV 21 may use a neural networkmodel to identify the type of the following object in the image. In someembodiments, the type of the following object may be a person, ananimal, or a vehicle.

S1402, sending the type information of the identified one or morefollowed objects to the control terminal of the UAV.

The processor 23 may further send the type information of the followingobject identified by the UAV 21 to the control terminal 25 of the UAV 21through the communication interface 24 of the UAV 21. The controlterminal 25 may also identified the type of the one or more followedobjects identified by the UAV 21 in the interactive interface 30. Forexample, the type information may be displayed around the followedobjects 31, 32, and 34, respectively.

In some embodiments, the following control method may further includereceiving a flight control instruction sent by the control terminal ofthe UAV in the process of following the two or more followed objects;and adjusting one or more of the position of the UAV, the attitude ofthe UAV, or the attitude of the gimbal of the UAV based on the flightcontrol instruction.

As shown in FIG. 8, when the UAV 21 is following the followed objects31, 32, 33, and 34, the user may also operate the control buttons in theinteractive interface 30. For example, the interactive interface 30 mayalso display the buttons for controlling the position of the UAV 21, theattitude of the UAV 21, or the attitude of the gimbal. When the controlterminal 25 detects a user's operation on a button, the flight controlinstruction may be generated and sent to the UAV 21.

The UAV may receive the flight control instruction from the controlterminal 25 when the UAV 21 is in the process of following the followedobjects 31, 32, 33, and 34, and adjust one or more of the position ofthe UAV, the attitude of the UAV, or the attitude of the gimbal of theUAV based on the flight control instruction.

In some embodiments, the following control method may further includereceiving a composition instruction sent by the control terminal of theUAV. Further, following the two or more followed objects such that thetwo or more followed objects may be in the imaging frame of the imagingdevice may include following the two or more followed objects such thatthe two or more followed objects may be in the imaging frame of theimaging device based on a composition rule indicated by the compositioninstruction.

In some embodiments, the UAV 21 may also receive the compositioninstruction sent by the control terminal 25. The specific principle andimplementation method of the composition instruction are consistent withthe above embodiments, and are not repeated here.

Taking the user's selection of the upper right corner as shown in FIG.11 as an example for description purpose. When the UAV 21 receives thefollowing instruction sent by the control terminal 25, the UAV 21 mayfollow the two or more followed objects indicated by the followinginstruction. When the UAV 21 is in the process of following the two ormore followed objects, the processor 23 may adjust one or more of themovement direction of the UAV 21, the attitude of the UAV 21, or theattitude of the gimbal of the UAV 21 based on information such as themovement directions of the two or more followed objects, and thepositions of the two or more followed objects in the image. As such, thetwo or more followed objects may be located at the upper right corner ofthe imaging frame of the imaging device.

In the present embodiment, the UAV may receive the compositioninstruction sent by the control terminal, and when following the two ormore followed objects indicated by the following instruction, the two ormore followed objects may be located in the imaging frame of the imagingdevice based on the composition rule indicated by the compositioninstruction, thereby improving the flexibility of the UAV to follow twoor more followed objects.

An embodiment of the present disclosure provides a following controlmethod. FIG. 15 is a flowchart of the following control method accordingto yet another embodiment of the present disclosure. The followingcontrol method provided in the present embodiment can be applied to aUAV. The following control method is described in detail below.

S1501, receiving and displaying an acquired image acquired by an imagingdevice of a UAV.

The specific principles and implementation methods of S1501 and S101 arethe same, and details are not described herein again.

S1502, receiving following object identification information sent by theUAV, the following object identification information may be used toindicate one or more followed objects identified by the UAV from theimage.

The specific principles and implementation methods of S1502 and S401 arethe same, and details are not described herein again.

S1503, identifying, in the image, the one or more followed objectsidentified by the UAV from the image based on the following objectidentification information.

The specific principles and implementation methods of S1503 and S402 arethe same, and details are not described herein again.

More specifically, the following object identification information mayinclude position information of the one or more followed objectsidentified by the UAV from the image.

For example, the identification information of the followed objects 31,32, and 34 sent by the UAV 21 to the control terminal 25 may include theposition information of the followed objects 31, 32, and 34 in theimage.

In some embodiments, identifying the one or more followed objectsidentified by the UAV from the image based on the following objectidentification information may include displaying an icon foridentifying the one or more followed objects identified by the UAV fromthe image based on the following object identification information.

As shown in FIG. 3, the control terminal 25 may display an icon foridentifying the following object 31, such as a circular icon 35 in thefollowing object 31, in the image based on the position information ofthe following object 31 in the image. Similarly, the control terminal 25may display an icon for identifying the following object 32, such as acircular icon 35 in the following object 32, in the image based on theposition information of the following object 32 in the image. Further,the control terminal 25 may display an icon for identifying thefollowing object 34, such as a circular icon 35 in the following object34, in the image based on the position information of the followingobject 34 in the image. The description provided above is forillustrative purpose. In other embodiments, other icons besides thecircular icon may be used to identify the followed objects identified bythe UAV.

In some embodiments, the method may further include receiving the typeinformation of one or more of followed objects sent by the UAV;identifying the type of the one or more of followed objects in the imagebased on the type information of the one or more of followed objects.

For example, the processor 23 in the UAV 21 may use a neural networkmodel to identify the type of the following object in the image. In someembodiments, the type of the following object may be a person, ananimal, or a vehicle. The processor 23 may further send the typeinformation of the following object identified by the UAV 21 to thecontrol terminal 25 of the UAV 21 through the communication interface 24of the UAV 21. The control terminal 25 may also identified the type ofthe one or more followed objects identified by the UAV 21 in theinteractive interface 30, and the one or more followed objects mayinclude at least two followed objects. For example, the control terminal25 may display the type information around the followed objects 31, 32,and 34, respectively, in the interactive interface 30.

In the present embodiment, the control terminal may receive thefollowing object identification information sent by the UAV, andidentify one or more followed objects indicated by the followed objectsidentification information and identified by the UAV from the imagebased on the following object identification information. As such, theuser can be aware of at least the objects in the image that the UAV canfollow, thereby improving the user experience.

An embodiment of the present disclosure provides a following controlmethod. FIG. 16 is a flowchart of the following control method accordingto still another embodiment of the present disclosure. The followingcontrol method provided in the present embodiment can be applied to acontrol terminal of a UAV. The following control method is described indetail below.

S1601, detecting a user's selection operation on one or more followedobjects in the image. In some embodiments, the one or more followedobjects may include two or more followed objects.

As shown in FIG. 8, the interactive interface 30 of the control terminal25 displays the followed objects 31, 32, 33, and 34. The user can selectany one or more of the followed objects 31, 32, 33, or 34. For example,the user may frame select the following object 33 that is not identifiedby the UAV 21, or click to select one or more of the followed objects31, 32, or 34 identified by the UAV 21. In some embodiments, the usermay also select the followed objects not identified by the UAV and thefollowed objects identified by the UAV 21.

The specific principles and implementation methods of S1601 and S102 arethe same, and details are not described herein again.

More specifically, detecting the user's selection operation on one ormore followed objects in the image may include the followingimplementation methods.

In one implementation method, detecting the user's selection operationon one or more followed objects in the image may include detecting auser's voice selection operation on one or more followed objects in theimage. In some embodiments, the one or more followed objects may includetwo or more followed objects.

The specific principles and implementation methods of detecting theuser's voice selection operation for one or more followed objects in theimage are consistent with the specific principles and implementationmethods of detecting the user's voice selection operation for two ormore followed objects in the image described in the previousembodiments, and are not repeated herein again.

In another implementation method, detecting the user's selectionoperation on one or more followed objects in the image may includedetecting a user's selection operation of one or more followed objectson the interactive interface displaying the image. In some embodiments,the one or more followed objects may include two or more followedobjects.

The specific principles and implementation methods of detecting theuser's selection operation for one or more followed objects in the imageare consistent with the specific principles and implementation methodsof detecting the user's selection operation for two or more followedobjects in the image described in the previous embodiments, and are notrepeated herein again.

In yet another implementation method, detecting the user's selectionoperation on one or more followed objects in the image may includedetecting the user's selection operation of one or more followed objectsidentified by the UAV from the image. In some embodiments, the one ormore followed objects may include two or more followed objects.

As shown in FIG. 3, the followed objects 31, 32, and 34 are the followedobjects identified by the UAV 21 from the image, and the user may selecttwo or more of followed objects 31, 32, or 34 on the interactiveinterface 30. For example, the user may single-click, double-click,select a frame, and press and hold on two or more of the followedobjects 31, 32, or 34.

In still another implementation method, detecting the user's selectionoperation on one or more followed objects in the image may includedetecting the user's selection operation of one or more followed objectsin the image that are not identified by the UAV from the image.

In some embodiments, the one or more followed objects may include two ormore followed objects.

As shown in FIG. 6, followed objects 31, 32, and 34 are the followedobjects identified by the UAV 21 from the image, and the followedobjects 33 and 37 are the followed objects not identified by the UAV 21from the image. The user may also select two or more followed objectsthat are not identified by the UAV 21 in the image, and the selectionmethod may include single-click, double-click, select a frame, press andhold, etc. The control terminal 25 may also detect the user's selectionoperation of two or more followed objects in the image that are notidentified by the UAV from the image.

As shown in FIG. 8, the user may also select one or more followedobjects identified by the UAV 21 in the image, such as the followedobjects 31, 32, and 34, and one or more followed objects not identifiedby eh UAV 21 in the image, such as the following object 33. The controlterminal 25 may detect the user's selection operation on the followedobjects 31, 32, and 34, and the user's selection operation on thefollowing object 33.

S1602, determining a following instruction based on the detectedselection operation.

More specifically, determining the following instruction based on thedetected selection operation may include determining the followinginstruction based on the detected voice selection operation.

For example, the user may issue a voice selection operation of“following the objects in red clothes and yellow clothes” to the controlterminal 25. The control terminal 25 may determine a followinginstruction based on the voice selection operation. The followingincludes may include characteristic information of the following objectselected by the user, such as red clothes and yellow clothes. Thecontrol terminal 25 may send the following instruction to the UAV 21.The processor 23 of the UAV 21 may identify the following object 31wearing red clothes and the following object 32 wearing yellow clothesfrom the image acquired by the imaging device 22 based on thecharacteristic information included in the following instruction, andthe following object 31 and the following object 32 may be followed.

In another example, the user may issue a voice selection operation of“followed objects in the lower right corner and the lower left corner”to the control terminal 25. The control terminal 25 may determine afollowing instruction based on the voice selection operation. Thefollowing includes may include characteristic information of thefollowing object selected by the user, such as the lower left corner andthe lower right corner. The control terminal 25 may send the followinginstruction to the UAV 21. The processor 23 of the UAV 21 may identifythe following object 33 in the lower left corner and the followingobject 34 in the lower right corner from the image acquired by theimaging device 22 based on the characteristic information included inthe following instruction, and the following object 33 and the followingobject 34 may be followed.

In some embodiments, when the control terminal 25 detects a voiceselection operation of “following the objects in red clothes and yellowclothes” and “followed objects in the lower right corner and the lowerleft corner” issued by a user. The control terminal 25 may identifycharacteristic information of two or more followed objects selected bythe user, such as red clothes and yellow clothes, and determine positioninformation of two or more followed objects in the image based on thecharacteristic information of the two or more followed objects, andgenerate a following instruction based on the position information ofthe two or more followed objects in the image. For example, thefollowing instruction may include the position information of the two ormore followed objects selected by the user in the image

In other embodiments, if the control terminal 25 detects a user'sselection operation of two or more followed objects such as thefollowing object 31 and the following object 32 on the interactiveinterface 30 using a touch operation, such as a single-click, adouble-click, a frame selection, and press and hold, on a touch screen,the control terminal 25 may generated a following instruction based onthe user's selection operation, and the following instruction mayinclude position information of two or more followed objects selected bythe user in the image.

S1603, controlling the UAV to follow the one or more followed objectsindicated by the following instruction such that the one or morefollowed objects may be in the imaging frame of the imaging device.

In some embodiments, the one or more followed objects may include two ormore followed objects.

After the control terminal 25 determines the following instruction inany of the methods described above, the UAV 21 may be controlled tofollow the two or more followed objects indicated by the followinginstruction, such as following the following object 31 and the followingobject 32. When the UAV is in the process of following the followingobject 31 and the following object 32, the processor 23 may adjust oneor more of the movement direction of the UAV 21, the attitude of the UAV21, or the attitude of the gimbal of the UAV 21 based on informationsuch as the movement directions of the following object 31 and thefollowing object 32 and the position of the following object 31 and thefollowing object 32. As such, the following object 31 and the followingobject 32 may be kept in the imaging frame of the imaging device.

In other embodiments, the method may further include detecting theuser's confirm follow operation. Further, controlling the UAV to followthe one or more followed objects indicated by the following instructionsuch that the one or more followed objects may be in the imaging frameof the imaging device may include controlling the UAV to follow the oneor more followed objects indicated by the following instruction suchthat the one or more followed objects may be in the imaging frame of theimaging device after detecting the user's confirm follow operation. Insome embodiments, the one or more followed objects may include two ormore followed objects.

More specifically, the method may further include displaying an icon toconfirm follow, and detecting the user's confirm follow operation mayinclude detecting the user's operation on the confirm follow icon.

As shown in FIG. 8, after the user selects the followed objects 31, 32,33, and 34, the control terminal 25 may further display a confirm followicon 40 on the interactive interface 30. When the user clicks theconfirm follow icon 40, it may indicate that the UAV 21 is controlledthe start following the followed objects 31, 32, 33, and 34. Morespecifically, after the control terminal 25 detects a user operationsuch as clicking on the confirm follow icon 40, the control terminal 25may control the UAV 21 to follow the followed objects 31, 32, 33, and34. In the process of the UAV 21 following the followed objects 31 and32, the processor 23 may adjust one or more of the movement direction ofthe UAV 21, the attitude of the UAV 21, or the attitude of the gimbal ofthe UAV 21 based on information such as the movement directions of thefollowed objects 31, 32, 33, and 34, and the position of each followingobject in the image.

As such, the followed objects 31, 32, 33, and 34 may be kept in theimaging frame of the imaging device.

In some embodiments, the method may further include the embodiment shownin FIG. 17.

S1701, detecting a user's flight control operation while the UAV isfollowing the one or more followed objects.

The specific principles and implementation methods of S1701 and S901 arethe same, and details are not described herein again.

S1702, determining a flight control instruction based on the detectedflight control operation.

The specific principles and implementation methods of S1702 and S902 arethe same, and details are not described herein again.

S1703, sending the flight control instruction to the UAV such that theUAV may adjust one or more of the position of the UAV, the attitude ofthe UAV, or the attitude of the gimbal of the UAV.

The specific principles and implementation methods of S1703 and S903 arethe same, and details are not described herein again.

In some embodiments, the method may further include detecting a user'scomposition selection operation; and determining a compositioninstruction based on the detection composition selection operation.Further, controlling the UAV to follow the one of more followed objectsindicated by the following instruction such that the one or morefollowed objects may be in the imaging frame of the imaging device mayinclude controlling the UAV to follow the one of more followed objectsindicated by the following instruction such that the one or morefollowed objects may be in the imaging frame of the imaging device basedon a composition rule indicated by the composition instruction.

More specifically, the control terminal 25 may also control the UAV 21to follow two or more followed objects such that the two or morefollowed objects may be located at a predetermined position in theimaging frame of the imaging device. The specific implementation processis consistent with the embodiment shown in FIG. 11 described above, anddetails are not described herein again.

In the present embodiment, a control terminal may receive and display animage acquired by an imaging device of a UAV, detect a user's selectionoperation of two or more followed objects in the image, and determine afollowing instruction based on the detected selection operation. Thefollowing instruction may indicate two or more followed objects suchthat the UAV may follow the two or more followed objects. As such, thetwo or more followed objects may be in the imaging frame of the imagingdevice, such that the UAV may be applied to more imaging scenes, such asa group photo, or ball games or games involving multiple players.Further, the control terminal may detect a user's composition selectionoperation, and a composition instruction may be determined based on thedetected composition selection operation. When the UAV is controlled tofollow the two or more followed objects indicated by the followinginstruction, the two or more followed objects may be located in theimaging frame of the imaging device based on the composition ruleindicated by the composition instruction, thereby improving theflexibility of the UAV to follow two or more followed objects.

An embodiment of the present disclosure provides a following controlmethod. FIG. 18 is a flowchart of the following control method accordingto still another embodiment of the present disclosure. The followingcontrol method provided in the present embodiment can be applied to aUAV. The following control method is described in detail below.

S1801, acquiring an image acquired by the imaging device carried by theUAV.

The specific principles and implementation methods of S1801 and S1201are the same, and details are not described herein again.

S1802, identifying the followed objects in the image.

The specific principles and implementation methods of S1802 and S1301are the same, and details are not described herein again.

S1803, sending identification information of one or more of theidentified followed objects to the control terminal of the UAV, theidentification information of the followed objects may be used toindicate one or more followed objects identified by the UAV from theimage.

The specific principles and implementation methods of S1803 and S1302are the same, and details are not described herein again.

In some embodiments, the one or more followed objects may include two ormore followed objects.

More specifically, the following object identification information mayinclude position information of the one or more followed objectsidentified by the UAV from the image.

For example, the identification information of the followed objects 31,32, and 34 sent by the UAV 21 to the control terminal 25 may include theposition information of the followed objects 31, 32, and 34 in theimage.

In some embodiments, the method may further include identifying the typeof the followed objects in the image; and sending the type informationof the identified one or more followed objects to the control terminalof the UAV. In some embodiments, the one or more followed objects mayinclude two or more followed objects. Identifying the type of thefollowed objects in the image is consistent with the specific principlesand implementation methods of S1401; sending the type information of theidentified one or more followed objects to the control terminal of theUAV is consistent with the specific principles and implementationmethods of S1402, and will be not repeated herein again.

In some embodiments, the method may further include receiving thefollowing instruction sent by the control terminal of the UAV; andfollowing one or more followed objects indicated by the followinginstruction such that the one or more followed objects may be in theimaging frame of the imaging device. In some embodiments, the one ormore followed objects may include two or more followed objects.

For example, when the control terminal 25 determines the followinginstruction by using the methods described in the previous embodiments,the following instruction may be sent to the UAV 21, and the followinginstruction may be used to indicate the two or more followed objectsselected by the user. The UAV 21 may follow the two or more followedobjects indicated by the following instruction, such as follow thefollowed objects 31 and 32. While the UAV 21 is following the followedobjects 31 and 32, the processor 23 may adjust one or more of theposition of the UAV, the attitude of the UAV, or the attitude of thegimbal of the UAV based on information such as the movement directionsof the followed objects 31 and 32, and the positions of the followedobjects 31 and 32 in the image, such that the followed objects 31 and 32may be in the imaging frame of the imaging device 22.

In addition, the method may further include receiving a flight controlinstruction sent by the control terminal of the UAV in the process offollowing the one or more followed objects; and adjusting one or more ofthe position of the UAV, the attitude of the UAV, or the attitude of thegimbal of the UAV based on the flight control instruction.

For example, the UAV may receive the flight control instruction from thecontrol terminal 25 when the UAV 21 is in the process of following thefollowed objects 31, 32, 33, and 34, and adjust one or more of theposition of the UAV, the attitude of the UAV, or the attitude of thegimbal of the UAV based on the flight control instruction.

In some embodiments, the method may further include receiving acomposition instruction sent by the control terminal of the UAV.Further, following the one or more followed objects such that the one ormore followed objects may be in the imaging frame of the imaging devicemay include following the one or more followed objects such that the oneor more followed objects may be in the imaging frame of the imagingdevice based on a composition rule indicated by the compositioninstruction.

In some embodiments, the UAV 21 may also receive the compositioninstruction sent by the control terminal 25. The specific principle andimplementation method of the composition instruction are consistent withthe above embodiments, and are not repeated here.

Taking the user's selection of the upper right corner as shown in FIG.11 as an example for description purpose. When the UAV 21 receives thefollowing instruction sent by the control terminal 25, the UAV 21 mayfollow the two or more followed objects indicated by the followinginstruction. When the UAV 21 is in the process of following the two ormore followed objects, the processor 23 may adjust one or more of themovement direction of the UAV 21, the attitude of the UAV 21, or theattitude of the gimbal of the UAV 21 based on information such as themovement directions of the two or more followed objects, and thepositions of the two or more followed objects in the image. As such, thetwo or more followed objects may be located at the upper right corner ofthe imaging frame of the imaging device.

In the present embodiment, the UAV may acquire an image acquired by theimaging device carried by the UAV, the image may be sent to the controlterminal of the UAV, and two or more followed objects indicated by thefollowing instruction based on the following instruction based sent bythe control terminal. As such, the two or more followed objects may bein the imaging frame of the imaging device, such that the UAV may beapplied to more imaging scenes, such as a group photo, or ball games orgames involving multiple players. Further, the UAV may receive thecomposition instruction sent by the control terminal, and when followingthe two or more followed objects indicated by the following instruction,the two or more followed objects may be located in the imaging frame ofthe imaging device based on the composition rule indicated by thecomposition instruction, thereby improving the flexibility of the UAV tofollow two or more followed objects.

An embodiment of the present disclosure provides a control terminal of aUAV. FIG. 19 is a structural diagram of a control terminal of a UAVaccording to an embodiment of the present disclosure. As shown in FIG.19, a control terminal 190 of a UAV includes a communication interface191 and a processor 192.

The communication interface 191 may be configured to receive the imageacquired by the imaging device of the UAV. The processor 192 may beconfigured to display the acquired image acquired by the imaging deviceof the UAV; detect a user's selection operation on two or more to befollowed objects in the image; determine a following instruction basedon the detected selection operation; and control the UAV to follow thetwo or more followed objects indicated by the following instruction suchthat the two or more followed objects may be in an imaging frame of theimaging device.

In some embodiments, the processor 192 detecting the user's selectionoperation on two or more to be followed objects in the image may includedetecting a user's voice selection operation on two or more to befollowed objects in the image. Further, the processor 192 determiningthe following instruction based on the detected selection operation mayinclude determining the following instruction based on the detectedvoice selection operation.

In some embodiments, the processor 192 detecting the user's selectionoperation on two or more to be followed objects in the image may includedetecting a user's selection operation of two or more followed objectson an interactive interface displaying the image.

In some embodiments, the communication interface 191 may be furtherconfigured to receive the following object identification informationsent by the UAV, the following object identification information may beused to indicate one or more followed objects identified by the UAV fromthe image. The processor 192 may be further configured to identify oneor more followed objects identified by the UAV from the image based onthe following object identification information.

In some embodiments, the following object identification information mayinclude position information of the one or more followed objectsidentified by the UAV from the image.

In some embodiments, the processor 192 identifying one or more followedobjects identified by the UAV from the image based on the followingobject identification information may include displaying an icon foridentifying the one or more followed objects identified by the UAV fromthe image based on the following object identification information.

In some embodiments, the one or more followed objects identified by theUAV from the image may include a plurality of followed objectsidentified by the UAV from the image. The processor detecting the user'sselection operation on two or more to be followed objects in the imagemay include detecting the user's selection operation of two or morefollowed objects identified by the UAV from the image.

In some embodiments, the detecting the user's selection operation on twoor more to be followed objects in the image may include detecting user'sselection operation on two or more to be followed objects in the imagethat are not identified by the UAV from the image.

In some embodiments, the detecting the user's selection operation on twoor more to be followed objects in the image may include detecting theuser's selection operation of one or more followed objects identified bythe UAV from the image, and the selection operation of one or morefollowed objects not identified by the UAV from the image.

In some embodiments, the communication interface 191 may be furtherconfigured to receive type information of one or more followed objectssent by the UAV. The processor 192 may be further configured to identifythe type of the one or more followed objects in the image based on thetype information of the one or more followed objects.

In some embodiments, the processor 192 may be further configured todetect the user's confirm follow operation. Further, controlling the UAVto follow the two or more followed objects indicated by the followinginstruction such that the two or more followed objects may be in theimaging frame of the imaging device may include controlling the UAV tofollow the two or more followed objects indicated by the followinginstruction such that the two or more followed objects may be in theimaging frame of the imaging device after detecting the user's confirmfollow operation.

In some embodiments, the processor 192 may be further configured todisplay a confirm follow icon. The processor 192 detecting the user'sconfirm follow operation may include detecting a user's operation on theconfirm follow icon.

In some embodiments, the processor 192 may be further configured todetect the user's flight control operation while the UAV is followingthe two or more followed objects; and determining a flight controlinstruction based on the detected flight control operation. Thecommunication interface 191 may be further configured to send the flightcontrol instruction to the UAV such that the UAV may adjust one or moreof the position of the UAV, the attitude of the UAV, or the attitude ofthe gimbal of the UAV.

In some embodiments, the processor 192 may be further configured todetect the user's composition selection; and determining a compositioninstruction based on the detected composition selection operation. Theprocessor 192 controls the UAV to follow the two or more followedobjects indicated by the following instruction such that the two or morefollowed objects may be in the imaging frame of the imaging device mayinclude controlling the UAV to follow the two or more followed objectsindicated by the following instruction such that the two or morefollowed objects may be in the imaging frame of the imaging device basedon a composition rule indicated by the composition instruction.

The specific principles and implementation methods of the controlterminal provided in the embodiments of the present disclosure aresimilar to the embodiments shown in FIG. 1, FIG. 4, and FIG. 9, anddetails are not described herein again.

In the present embodiment, a control terminal may receive and display animage acquired by an imaging device of a UAV, detect a user's selectionoperation of two or more followed objects in the image, and determine afollowing instruction based on the detected selection operation. Thefollowing instruction may indicate two or more followed objects suchthat the UAV may follow the two or more followed objects. As such, thetwo or more followed objects may be in the imaging frame of the imagingdevice, such that the UAV may be applied to more imaging scenes, such asa group photo, or ball games or games involving multiple players.Further, the control terminal may receive the following objectidentification information sent by the UAV, and identify one or morefollowed objects identified by the UAV from the image based on thefollowing object identification information. As such, the user may beaware of at least the objects in the image that the UAV can follow,thereby improving the user experience. Furthermore, the control terminalmay detect a user's composition selection operation, and a compositioninstruction may be determined based on the detected compositionselection operation. When the UAV is controlled to follow the two ormore followed objects indicated by the following instruction, the two ormore followed objects may be located in the imaging frame of the imagingdevice based on the composition rule indicated by the compositioninstruction, thereby improving the flexibility of the UAV to follow twoor more followed objects.

An embodiment of the present disclosure provides a UAV. FIG. 20 is astructural diagram of a UAV according to an embodiment of the presentdisclosure. As shown in FIG. 20, a UAV 200 includes a body, a powersystem, an imaging device 201, a processor 202, and a communicationinterface 203. In particular, the imaging device 201 may be mounted onthe body through a gimbal 204 and configured to acquire images. Thepower system may include one or more of a motor 207, a propeller 206,and an electronic speed controller (ESC) 217. The power system may bemounted on the body and configured to provide flying power.

In the present embodiment, the processor 202 may be configured toacquire an image acquired by an imaging device mounted on the UAV. Thecommunication interface 203 may be configured to send the image to acontrol terminal of the UAV; and receive a following instruction sent bythe control terminal of the UAV, the following instruction may be usedto indicate two or more followed objects in the image. The processor 202may be further configured to follow the two or more followed objectssuch that the two or more followed objects may be in the imaging frameof the imaging device.

In some embodiments, the processor 202 may be further configured toidentify the followed objects in the image. The communication interface203 may be further configured to send identification information of oneor more followed objects identified by the processor 202 to the controlterminal of the UAV, the identification information of the followedobjects may be used to indicate one or more followed objects identifiedby the UAV from the image.

In some embodiments, the identification information of the followedobjects may include position information of the one or more followedobjects identified by the UAV from the image.

In some embodiments, the processor 202 may be further configured toidentify the type of the followed objects in the image. Thecommunication interface 203 may be further configured to send typeinformation of one or more followed objects identified by the processor202 to the control terminal of the UAV.

In some embodiments, the communication interface 203 may be furtherconfigured to receive a flight control instruction sent by the controlterminal of the UAV while the UAV is following the two or more followedobjects. The processor 202 may be further configured to adjust one ormore of the position of the UAV, the attitude of the UAV, or theattitude of the gimbal of the UAV based on the flight controlinstruction.

In some embodiments, the communication interface 203 may be furtherconfigured to receive a composition instruction sent by the controlterminal of the UAV. The processor 202 follows the two or more followedobjects such that the two or more followed objects may be in the imagingframe of the imaging device may include following the two or morefollowed objects such that the two or more followed objects may be inthe imaging frame of the imaging device based on a composition ruleindicated by the composition instruction.

In some embodiments, the processor 202 may be a flight controller.

The specific principles and implementation methods of the UAV providedin the embodiments of the present disclosure are similar to theembodiments shown in FIG. 12, FIG. 13, and FIG. 14, and details are notdescribed herein again.

In the present embodiment, the UAV may acquire an image acquired by theimaging device carried by the UAV, the image may be sent to the controlterminal of the UAV, and two or more followed objects indicated by thefollowing instruction based on the following instruction based sent bythe control terminal. As such, the two or more followed objects may bein the imaging frame of the imaging device, such that the UAV may beapplied to more imaging scenes, such as a group photo, or ball games orgames involving multiple players. Further, the UAV may receive thecomposition instruction sent by the control terminal, and when followingthe two or more followed objects indicated by the following instruction,the two or more followed objects may be located in the imaging frame ofthe imaging device based on the composition rule indicated by thecomposition instruction, thereby improving the flexibility of the UAV tofollow two or more followed objects.

An embodiment of the present disclosure provides a control terminal fora UAV. FIG. 21 is a structural diagram of the control terminal of theUAV according to another embodiment of the present disclosure. As shownin FIG. 21, a control terminal 210 includes a communication interface211 and a processor 212. The communication interface 211 may beconfigured to receive an image acquired by an imaging device of the UAV;and receive the following object identification information sent by theUAV, the following object identification information being used toindicate one or more followed objects identified by the UAV from theimage. The processor 212 may be configured to display the acquired imageacquired by the imaging device of the UAV; identify, in the image, theone or more followed objects identified by the UAV from the image basedon the following object identification information.

In some embodiments, the identification information of the followedobjects may include position information of the one or more followedobjects identified by the UAV from the image.

In some embodiments, the processor 212 identified the one or morefollowed objects identified by the UAV from the image based on thefollowing object identification information may include displaying anicon for identifying, in the image, the one or more followed objectsidentified by the UAV from the image based on the following objectidentification information.

In some embodiments, the communication interface 211 may be furtherconfigured to receive type information of one or more followed objectssent by the UAV. The processor 212 may be further configured to identifythe type of the one or more followed objects in the image based on thetype information of the one or more followed objects.

In some embodiments, the processor 212 may be further configured todetect a user's selection operation on one or more followed objects inthe image; determine a following instruction based on the detectedselection operation; and control the UAV to follow the one or morefollowed objects indicated by the following instruction such that thetwo or more followed objects may be in an imaging frame of the imagingdevice.

In some embodiments, the processor 212 detecting the user's selectionoperation on one or more followed objects in the image may includedetecting a user's voice selection operation on one or more followedobjects in the image. Further, the processor 212 determining thefollowing instruction based on the detected selection operation mayinclude determining the following instruction based on the detectedvoice selection operation.

In some embodiments, the processor 212 detecting the user's selectionoperation on one or more followed objects in the image may includedetecting a user's selection operation of one or more followed objectson an interactive interface displaying the image.

In some embodiments, the processor 212 detecting the user's selectionoperation on one or more followed objects in the image may includedetecting the user's selection operation of one or more followed objectsidentified by the UAV from the image.

In some embodiments, the processor 212 detecting the user's selectionoperation on one or more followed objects in the image may includedetecting the user's selection operation of one or more followed objectsnot identified by the UAV from the image.

In some embodiments, may be further configured to detect a user'sconfirm follow operation. The processor 212 controls the UAV to followthe one or more followed objects indicated by the following instructionsuch that the one or more followed objects may be in the imaging frameof the imaging device may include controlling the UAV to follow the oneor more followed objects indicated by the following instruction suchthat the one or more followed objects may be in the imaging frame of theimaging device after detecting the user's confirm follow operation.

In some embodiments, the processor 212 may be further configured todisplay a confirm follow icon. The processor 212 detecting the user'sconfirm follow operation may include detecting a user's operation on theconfirm follow icon.

In some embodiments, the processor 212 may be further configured todetect the user's flight control operation while the UAV is followingthe one or more followed objects; and determining a flight controlinstruction based on the detected flight control operation. Thecommunication interface 211 may be further configured to send the flightcontrol instruction to the UAV such that the UAV may adjust one or moreof the position of the UAV, the attitude of the UAV, or the attitude ofthe gimbal of the UAV.

In some embodiments, the processor 212 may be further configured todetect the user's composition selection; and determining a compositioninstruction based on the detected composition selection operation. Theprocessor 212 controls the UAV to follow the one or more followedobjects indicated by the following instruction such that the one or morefollowed objects may be in the imaging frame of the imaging device mayinclude controlling the UAV to follow the one or more followed objectsindicated by the following instruction such that the one or morefollowed objects may be in the imaging frame of the imaging device basedon a composition rule indicated by the composition instruction.

In some embodiments, the one or more followed objects may include two ormore followed objects.

The specific principles and implementation methods of the controlterminal provided in the embodiments of the present disclosure aresimilar to the embodiments shown in FIG. 15, FIG. 16, and FIG. 17, anddetails are not described herein again.

In the present embodiment, the control terminal may receive thefollowing object identification information sent by the UAV, andidentify, in the image, one or more followed objects indicated by thefollowed objects identification information and identified by the UAVfrom the image based on the following object identification information.As such, the user can be aware of at least the objects in the image thatthe UAV can follow, thereby improving the user experience.

An embodiment of the present disclosure provides a UAV. FIG. 20 is astructural diagram of a UAV according to an embodiment of the presentdisclosure. As shown in FIG. 20, a UAV 200 includes a body, a powersystem, an imaging device 201, a processor 202, and a communicationinterface 203. In particular, the imaging device 201 may be mounted onthe body through a gimbal 204 and configured to acquire images. Thepower system may include one or more of a motor 207, a propeller 206,and an electronic speed controller (ESC) 217. The power system may bemounted on the body and configured to provide flying power.

In the present embodiment, the processor 202 may be configured toacquire an image acquired by an imaging device mounted on the UAV; andidentify the followed objects in the image. The communication interface203 may be configured to send identification information of theidentified one or more followed objects to the control terminal of theUAV, the identification information of the followed objects may be usedto indicate one or more followed objects identified by the UAV from theimage.

In some embodiments, the identification information of the followedobjects may include position information of the one or more followedobjects identified by the UAV from the image.

In some embodiments, the processor 202 may be further configured toidentify the type of the followed objects in the image. Thecommunication interface 203 may be configured to send the typeinformation of the one or more identified followed objects to thecontrol terminal of the UAV.

In some embodiments, the communication interface 203 may be furtherconfigured to receive a following instruction sent by the controlterminal of the UAV. The processor 202 may be further configured tofollow one or more followed objects indicated by the followinginstruction such that the one or more followed objects may be in theimaging frame of the imaging device.

In some embodiments, the communication interface 203 may be furtherconfigured to receive a flight control instruction sent by the controlterminal of the UAV. The processor 202 may be further configured toadjust one or more of the position of the UAV, the attitude of the UAV,or the attitude of the gimbal of the UAV based on the flight controlinstruction.

In some embodiments, the communication interface 203 may be furtherconfigured to receive a composition instruction sent by the controlterminal of the UAV. The processor 202 follows the one or more followedobjects indicated by the following instruction such that the one or morefollowed objects may be in the imaging frame of the imaging device mayinclude following the one or more followed objects indicated by thefollowing instruction such that the one or more followed objects may bein the imaging frame of the imaging device based on a composition ruleindicated by the composition instruction.

In some embodiments, the one or more followed objects may include two ormore followed objects.

The specific principles and implementation methods of the UAV providedin the embodiments of the present disclosure are similar to theembodiments shown in FIG. 18, and details are not described hereinagain.

In the present embodiment, the UAV may acquire an image acquired by theimaging device carried by the UAV, the image may be sent to the controlterminal of the UAV, and two or more followed objects indicated by thefollowing instruction based on the following instruction based sent bythe control terminal. As such, the two or more followed objects may bein the imaging frame of the imaging device, such that the UAV may beapplied to more imaging scenes, such as a group photo, or ball games orgames involving multiple players. Further, the UAV may receive thecomposition instruction sent by the control terminal, and when followingthe two or more followed objects indicated by the following instruction,the two or more followed objects may be located in the imaging frame ofthe imaging device based on the composition rule indicated by thecomposition instruction, thereby improving the flexibility of the UAV tofollow two or more followed objects.

In the several embodiments provided by the present disclosure, it shouldbe understood that the disclosed apparatus and method may be implementedin other manners. For example, the apparatus embodiments described aboveare merely illustrative. For example, the unit division is merelylogical function division and there may be other division in actualimplementation. For example, multiple units or components may becombined or integrated into another system, or some features can beomitted or not be executed. In addition, the mutual coupling or thedirect coupling or the communication connection as shown or discussedmay be indirect coupling or communication connection through someinterfaces, devices or units, and may be in electrical, mechanical orother forms.

The units described as separate components may or may not be physicallyseparated. The components displayed as units may or may not be physicalunits, that is, may be located in one place or may also be distributedto multiple network units. Some or all of the units may be selectedaccording to actual needs to achieve the objectives of the solution inthe disclosure.

In addition, each functional unit in each embodiment of the presentdisclosure may be integrated into one processing unit, or each unit mayexist alone physically, or two or more units may be integrated in oneunit. The above-mentioned integrated unit can be implemented in the formof hardware or in the form of hardware plus software functional unit

The above-described integrated unit implemented in the form of asoftware functional unit may be stored in a computer-readable storagemedium. The software function unit is stored in a storage medium andincludes several instructions for enabling a computer device (which maybe a personal computer, a server, a network device, etc.) or a processorto execute some steps of the method according to each embodiment of thepresent disclosure. The foregoing storage medium includes a mediumcapable of storing program code, such as a USB flash disk, a removablehard disk, a read-only memory (ROM), a random access memory (RAM), amagnetic disk, an optical disc, or the like.

Those skilled in the art may clearly understand that, for convenienceand brevity of description, the division of the foregoing functionalmodules is only used as an example. In practical applications, however,the above function allocation may be performed by different functionalmodules according to actual needs. That is, the internal structure ofthe device is divided into different functional modules to accomplishall or part of the functions described above. For the working process ofthe foregoing apparatus, reference may be made to the correspondingprocess in the foregoing method embodiments, and details are notdescribed herein again.

Finally, it should be noted that the foregoing embodiments are merelyintended for describing the technical solutions of the presentdisclosure, but not to limit the present disclosure. Although thepresent disclosure is described in detail with reference to theforegoing embodiments, it should be understood by those of ordinaryskill in the art that the technical solutions described in the foregoingembodiments may still be modified, or a part or all of the technicalfeatures may be equivalently replaced without departing from the spiritand scope of the present disclosure. As a result, these modifications orreplacements do not make the essence of the corresponding technicalsolutions depart from the scope of the technical solutions of thepresent disclosure.

What is claimed is:
 1. A following control method comprising: receivingand displaying an acquired image acquired by an imaging device of anunmanned aerial vehicle (UAV); detecting a user's selection operation ontwo or more objects in the image; determining a following instructionbased on the detected selection operation; and controlling the UAV tofollow the two or more followed objects indicated by the followinginstruction so that the two or more followed objects are in an imagingframe of the imaging device.
 2. The method of claim 1, wherein detectingthe user's selection operation on two or more objects in the imageincludes: detecting a user's voice selection operation on two or moreobjects in the image; and wherein determining the following instructionbased on the detected selection operation includes: determining thefollowing instruction based on the detected voice selection operation.3. The method of claim 1, wherein detecting the user's selectionoperation on two or more objects in the image includes detecting theuser's selection operation on two or more objects on an interactiveinterface displaying the image.
 4. The method of claim 1, furthercomprising: receiving following object identification information sentby the UAV, the following object identification information being usedto indicate one or more followed objects identified by the UAV from theimage; and identifying, in the image, the one or more followed objectsidentified by the UAV from the image based on the following objectidentification information.
 5. The method of claim 4, wherein thefollowing object identification information includes positioninformation of the one or more followed objects identified by the UAVfrom the image.
 6. The method of claim 4, wherein identifying, in theimage, the one or more followed objects identified by the UAV from theimage based on the following object identification information includesdisplaying, in the image, an icon for identifying the one or morefollowed objects identified by the UAV from the image based on thefollowing object identification information.
 7. The method of claim 4,wherein: the one or more followed objects identified by the UAV from theimage includes a plurality of followed objects identified by the UAVfrom the image; and detecting the user's selection operation of two ormore followed objects in the image includes detecting, in the image, theuser's selection operation of two or more followed objects identified bythe UAV from the image.
 8. The method of claim 4, wherein detecting theuser's selection operation of two or more followed objects in the imageincludes detecting the user's selection operation of two or morefollowed objects in the image not being identified by the UAV from theimage.
 9. The method of claim 4, wherein detecting the user's selectionoperation of two or more followed objects in the image includesdetecting the user's selection operation of one or more followed objectsidentified by the UAV from the image, and detecting the selectionoperation of one or more followed objects not being identified by theUAV from the image.
 10. The method of claim 4, further comprising:receiving type information of one or more followed objects sent by theUAV; and identifying a type of the one or more followed objects in theimage based on the type information of one or more followed objects. 11.The method of claim 1, further comprising: detecting a user's confirmfollow operation; and controlling the UAV to follow the two or morefollowed objects indicated by the following instruction so the two ormore followed objects are in the imaging frame of the imaging deviceincludes controlling the UAV to follow the two or more followed objectsindicated by the following instruction so the two or more followedobjects are in the imaging frame of the imaging device after detectingthe user's confirm follow operation.
 12. The method of claim 11, furthercomprising: displaying a confirm follow icon; and detecting the user'sconfirm follow operation includes detecting a user's operation on theconfirm follow icon.
 13. The method of claim 1, further comprisingdetecting a user's flight control operation while the UAV is followingthe two or more followed objects; determining a flight controlinstruction based on the detected flight control operation; and sendingthe flight control instruction to the UAV for the UAV to adjust one ormore of a position of the UAV, an attitude of the UAV, or an attitude ofa gimbal of the UAV based on the flight control instruction.
 14. Themethod of claim 1, further comprising: detecting a user's compositionselection operation; determining a composition instruction based on thedetected composition selection operation; and controlling the UAV tofollow the two or more followed objects indicated by the followinginstruction so that the two or more followed objects are in an imagingframe of the imaging device includes controlling the UAV to follow thetwo or more followed objects indicated by the following instruction sothat the two or more followed objects are in an imaging frame of theimaging device based on a composition rule indicated by the compositioninstruction.
 15. A control terminal of a UAV comprising: a communicationinterface configured to receive an acquired image acquired by an imagingdevice of the UAV; and a processor configured to: display the acquiredimage acquired by the imaging device of a UAV; detect a user's selectionoperation on two or more to be followed objects in the image; determinea following instruction based on the detected selection operation; andcontrol the UAV to follow the two or more followed objects indicated bythe following instruction so that the two or more followed objects arein an imaging frame of the imaging device.
 16. The control terminal ofclaim 15, wherein the processor detecting the user's selection operationon two or more objects in the image includes: detecting a user's voiceselection operation on two or more objects in the image; and wherein theprocessor determining the following instruction based on the detectedselection operation includes: determining the following instructionbased on the detected voice selection operation.
 17. The controlterminal of claim 15, wherein the processor detecting the user'sselection operation on two or more objects in the image includesdetecting the user's selection operation on two or more objects on aninteractive interface displaying the image.
 18. The control terminal ofclaim 15, wherein the communication interface is further configured toreceive following object identification information sent by the UAV, thefollowing object identification information being used to indicate oneor more followed objects identified by the UAV from the image, and theprocessor is further configured to identify, in the image, the one ormore followed objects identified by the UAV from the image based on thefollowing object identification information.
 19. The control terminal ofclaim 18, wherein the following object identification informationincludes position information of the one or more followed objectsidentified by the UAV from the image.
 20. The control terminal of claim18, wherein the processor identifying, in the image, the one or morefollowed objects identified by the UAV from the image based on thefollowing object identification information includes: displaying, in theimage, an icon for identifying the one or more followed objectsidentified by the UAV from the image based on the following objectidentification information.
 21. The control terminal of claim 18,wherein: the one or more followed objects identified by the UAV from theimage includes a plurality of followed objects identified by the UAVfrom the image; and the processor detecting the user's selectionoperation of two or more followed objects in the image includesdetecting, in the image, the user's selection operation of two or morefollowed objects identified by the UAV from the image.
 22. The controlterminal of claim 18, wherein detecting the user's selection operationof two or more followed objects in the image includes detecting theuser's selection operation of two or more followed objects in the imagenot being identified by the UAV from the image.